#include "constants.h"
#include "MyPose.h"

#ifndef POSEARRAYVISUALIZER_H_
#define POSEARRAYVISUALIZER_H_

typedef PoseArray Configuration;
typedef std::vector<Configuration> RobotSet;

class PoseArrayVisualizer {
	ros::Publisher particlecloud_pub_;
public:
	PoseArrayVisualizer(ros::NodeHandle &n);
	virtual ~PoseArrayVisualizer();
	void publishPersonParticles(std::vector<RobotSet> &S);
	void publishPersonParticles(RobotSet &S);
	void publishPoseArray(PoseArray &pa);
};

#endif /* POSEARRAYVISUALIZER_H_ */
